Uncertainty modeling and robust control of an experimental two tank system

摘要

This paper describes an approach to uncertainty modeling and robust control, with its application to a laboratory process control problem. Model of the process obtained from first principles is validated using simple experiments. Uncertainty bounds and structure is obtained using some a-priori knowledge about the system. The robust controller is designed using μ-synthesis. The performance of the resulting closed loop system is compared with that of utilizing inverse based and decentralized PI controllers.